User interface for three-dimensional navigation

ABSTRACT

The present invention uses invisible junctions which are a set of local features unique to every page of the electronic document to match the captured image to a part of an electronic document. The present invention includes: an image capture device, a feature extraction and recognition system and database. When an electronic document is printed, the feature extraction and recognition system captures an image of the document page. The features in the captured image are then extracted, indexed and stored in the database. Given a query image, usually a small patch of some document page captured by a low resolution image capture device, the features in the query image are extracted and compared against those stored in the database to identify the query image. The present invention also includes methods for recognizing and tracking the viewing region and look at point corresponding to the input query image. This information is combined with a rendering of the original input document to generate a new graphical user interface to the user. This user interface can be displayed on a conventional browser or even on the display of an image capture device.

BACKGROUND OF THE INVENTION

The present invention relates to processing techniques for patch recognition. More particularly, the present invention relates to systems and methods for using a new feature referred to herein as invisible junctions for image-based document patch recognition. Still more particularly, the present invention relates to a system and methods for using invisible junctions to provide a user interface for three-dimensional navigation.

Computers and electronic documents were once restricted to use in a desktop environments where electronic documents were output by the computer to printers and printed on paper. Printers and copiers are used in private and commercial office environments, in home environments with personal computers, and in document printing and publishing service environments. Once an electronic document is printed out on paper, manipulations on these two types of documents are mostly independent. Printing and copying technology has not been able to bridge the gap between static printed media (i.e., paper documents), and the “virtual world” of interactivity that includes the likes of digital communication, networking, information provision, advertising, entertainment and electronic commerce.

The advent and ever-increasing popularity of smaller portable computing devices and personal electronic devices, such as personal digital assistant (PDA) devices, cellular telephones (e.g., cellular camera phones) and digital cameras over the past few years, has expanded the concept of documents to include their electronic version by making the available in an electronically readable and searchable form and by introducing interactive multimedia capabilities, which are unparalleled by traditional printed media.

There continue to be problems in the prior art in bridging between the world of electronic documents on one hand and the world of paper documents on the other. A gap exists between the virtual multimedia-based world that is accessible electronically and the physical world of print media. In particular, it is still very difficult and/or computationally expensive to use a printed document to access or even find the electronic document from which the paper document was generated. A key obstacle to identifying and finding an electronic document corresponding to a printed document is the recognition of an image patch that is being captured by the camera. While capturing an image of the printed document has become trivial with the proliferation of cell phones with cameras, there is no way to use such low quality images for electronic document retrieval.

In other words, there is not an existing method that can effectively identify from a database the document page the camera is looking at, pin-point the exact camera look-at point on the recognized page, and estimate the frame box of the image on the recognized document page. This recognition task is made even more challenging considering that: 1) the input image is a small portion of the document page being looked at; 2) there is a large number of document pages in the database that look similar to each other; 3) the hand-held camera could have very different viewing conditions including different viewing angles and distances with respect to paper and camera motion due to hand movement; 4) there are considerable photometric changes due to lighting changes; and 5) there may be non-planar geometric deformation if the user is holding the paper by hand.

While there have been attempts in the prior art, they suffer from a number of deficiencies. For example, a popular Scale-Invariant Feature Transform (or SIFT) is not suitable for text documents. The SIFT key points are chosen from the extrema in scale space. More specifically, all scales and image locations are scanned for local maxima in scale space; these local maxima are chosen as key point candidates. This makes the SIFT poor at discrimination between text and the SIFT is not stable and repeatable in noisy environments. Other prior art approaches focus on geometric features of the text block but they are not suitable for Asian or ideographic languages.

Yet another problem with the prior art is that the few types of recognition available have discrimination capabilities that work poorly on text and image text combinations. This is in part due to the fact that there is some regularity in geometric layout of all text documents. Often the prior art recognition methods return large number of candidate matches with no ranking or ranking that provides to many false positive matches.

One additional problem with the prior art is that there is not a method for indicating the region of an electronic document that corresponds to a query image being input. In particular, there are not prior art methods for indicating the viewing region and a camera look at point on the electronic document.

Yet another problem with the prior art attempts to create link between paper documents and the virtual world is that there are no methods to effectively interface the virtual world using a combination of paper are computing devices. There are a variety of mechanisms such as tool bars, button and other interfaces that can be displayed on a computer screen alone and that are used with input devices like mouse-type controllers and keyboards. However, there is not such interfaced for working with paper and electronic documents at the same time.

SUMMARY OF THE INVENTION

The present invention overcomes the deficiencies of the prior art with a system using invisible junctions for image-based document patch recognition. The system is advantageous because it uses invisible junctions of a low quality image patch to identify and retrieve a corresponding electronic document, page, look-at point and viewing region. The system is advantageous because it is very fast, works with both western and eastern languages, and works images that mix text and image components. The present invention uses invisible junctions which are a set of local features unique to every page of the electronic document to match the captured image to a part of an electronic document. In one embodiment, the system of the present invention includes: an image capture device, a feature extraction and recognition system and database. The feature extraction and recognition system further comprises a feature extraction unit, a feature indexing unit, a feature retrieval unit and a geometric estimation unit. When an electronic document is printed, the feature extraction and recognition system, for example in print-capture software, captures an image of the document page. The features in the captured image are then extracted, indexed and stored in the database. Given a query image, usually a small patch of some document page captured by a low resolution image capture device such as a web-cam, the features in the query image are extracted and compared against those stored in the database to identify the query image. The feature extraction and recognition system advantageously uses geometric estimation to reduce the query result to a single one or a few candidate matches. In one embodiment, the feature extraction and recognition system uses two separate geometric estimations to rank and verify matching candidates. The present invention also includes methods for feature extraction, feature indexing, feature retrieval and geometric estimation.

The present invention also includes methods for recognizing and tracking the viewing region and look at point corresponding to the input query image. Moreover, the present invention is particularly advantageous because this information is combined with a rendering of the original input document to generate a new graphical user interface for the user. This user interface can be displayed on a conventional browser or even on the display of an image capture device.

The features and advantages described herein are not all-inclusive and, in particular, many additional features and advantages will be apparent to one of ordinary skill in the art in view of the figures and description. Moreover, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and not to limit the scope of the inventive subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

The file of this patent or application contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawings will be provided by the USPTO upon request and payment of the necessary fee

The invention is illustrated by way of example, and not by way of limitation in the figures of the accompanying drawings in which like reference numerals are used to refer to similar elements.

FIG. 1 is a functional diagram of an embodiment of a system for feature extraction and recognition in accordance with present invention.

FIG. 2 illustrates a block diagram of an embodiment of a system configured in accordance with an embodiment of the present invention.

FIG. 3 illustrates a block diagram of a memory of the system of FIG. 2 configured in accordance with an embodiment of the present invention.

FIG. 4 is a block diagram of an embodiment of a Feature Extraction and Recognition system of FIG. 1 in accordance with the present invention.

FIGS. 5A to 5E are graphical representations of the steps of feature extraction being performed on an example image in accordance with the present invention.

FIG. 6 is a flow chart of an embodiment of a method for performing feature extraction in accordance with the present invention.

FIG. 7A is a flow chart of an embodiment of a method for performing feature indexing in accordance with the present invention.

FIG. 7B is a flow chart of an alternate embodiment of a method for performing feature indexing in accordance with the present invention.

FIG. 8 is a flow chart of an embodiment of a method for feature retrieval in accordance with the present invention.

FIG. 9A is a flow chart of a first embodiment of a method for geometric estimation in accordance with the present invention.

FIG. 9B is a flow chart of a second embodiment of a method for geometric estimation in accordance with the present invention.

FIG. 9C is a flow chart of a second embodiment of a method for geometric estimation in accordance with the present invention.

FIG. 9D is a graphical representation of example geometric constraints showing a paper plane, an imaging plane and a query.

FIG. 10A is a flow chart of an embodiment of a method for combining recognizing and tracking in accordance with the present invention.

FIG. 10B is a graphical representation of a user interface generated by the method for combining recognizing and tracking in accordance with the present invention.

FIG. 10C is a state diagram of a process used by the method for combining recognizing and tracking in accordance with the present invention.

FIGS. 10D-10K are graphical representations of other embodiment for a user interface generated by the combined recognizing and tracking in accordance with the present invention.

FIG. 11 is a functional block diagram of multifunction peripheral including of an embodiment of the system for feature extraction and recognition in accordance with present invention.

FIG. 12 is a flow chart of an embodiment of a method for using invisible junction recognition as a part of document security in accordance with the present invention.

FIG. 13 is a flow chart of an embodiment of a method for using invisible junction recognition as a part of database updating and document processing in accordance with the present invention.

FIG. 14 is a flow chart of an embodiment of a method for using invisible junction recognition as a part of mixed media reality database annotation and document processing in accordance with the present invention.

FIG. 15 is a flow chart of an embodiment of a method for using invisible junction recognition as a part of a user interface to control display of a three-dimensional model in accordance with the present invention.

FIG. 16 is a flow chart of an embodiment of a method for updating a display of a three-dimensional model based on a change in input device position.

FIGS. 17A to 17I are graphical representations of user interfaces generated by the method of FIG. 15 in accordance with the present invention.

FIG. 18 is a flow chart of an embodiment of a method for updating a display of navigation information based on a change in input device position.

FIGS. 19A to 19H are graphical representations of user interfaces generated by the method of FIG. 18 in accordance with the present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

A system for using a new feature referred to herein as invisible junctions for image-based document patch recognition is described. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the invention can be practiced without these specific details. In other instances, structures and devices are shown in block diagram form in order to avoid obscuring the invention.

Reference in the specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment.

Some portions of the detailed descriptions that follow are presented in terms of algorithms and symbolic representations of operations on data bits within a computer memory. These algorithmic descriptions and representations are the means used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. An algorithm is here, and generally, conceived to be a self-consistent sequence of steps leading to a desired result. The steps are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It has proven convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers or the like.

It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise as apparent from the following discussion, it is appreciated that throughout the description, discussions utilizing terms such as “processing” or “computing” or “calculating” or “determining” or “displaying” or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.

The present invention also relates to an apparatus for performing the operations herein. This apparatus may be specially constructed for the required purposes, or it may comprise a general-purpose computer selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored in a computer readable storage medium, such as, but is not limited to, any type of disk including floppy disks, optical disks, CD-ROMs, and magnetic-optical disks, read-only memories (ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic or optical cards, or any type of media suitable for storing electronic instructions, each coupled to a computer system bus.

Finally, the algorithms and displays presented herein are not inherently related to any particular computer or other apparatus. Various general-purpose systems may be used with programs in accordance with the teachings herein, or it may prove convenient to construct more specialized apparatus to perform the required method steps. The required structure for a variety of these systems will appear from the description below. In addition, the present invention is not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the invention as described herein.

System Overview

Referring now to FIG. 1, an embodiment of a system 100 of the present invention for using a new feature, referred to herein as an invisible junction, for image-based document patch recognition is shown. The present invention uses invisible junctions, which are a set of local features as described below with reference to FIG. 5A-5D, to match the captured image to a portion of an electronic document. In this embodiment, the system 100 comprises: an image capture device 106, a feature extraction and recognition system 108 and a database 110 configured to capture an image of a portion 104 of a printed or paper document 102 and retrieve the corresponding electronic document, page, look-at point and viewing region. The correspondence between the original area 104 of the paper document 102 and the electronic representation 112 is shown by line 114. FIG. 1 illustrates an example of the system 100 capturing 116 a query image such as a small patch 104 of some paper document 102 with the image capture device 106. The feature extraction and recognition system 108 extracts the features in the query image and compares them against those stored in the database 110 to identify the electronic representation 112.

The image capture device 106 is any conventional type known in the art. For example, in the query portion of the process, the image capture device 106 may be a web camera, a camera that is part of cell phone or a digital camera. The present invention is particularly advantageous because it is operable with low resolution image capture devices. The image capture device 106 is coupled for communication with the feature extraction and recognition system 108. This communication may be via a wired or wireless network.

In another embodiment where model images are being indexed, the image captured device 106 is a scanner of a multifunction peripheral or software for generating a printed document. For example, the image captured device 106 could be print capture software in such an embodiment. These embodiments are used to index documents being output or printed by a computer (not shown).

The feature extraction and recognition system 108 performs the functions of feature extraction, indexing and retrieval for invisible junctions. The feature extraction and recognition system 108 further comprises a feature extraction unit 310, a feature indexing unit 312, a feature retrieval unit 314 and a geometric estimation unit 316 as will be described in more detail below with reference to FIGS. 2-4. The feature extraction and recognition system 108 is coupled to the image capture device 106 to receive an image of a paper document, a model image of the paper document or an image patch. The feature extraction and recognition system 108 is coupled to the database 110 to store feature descriptions of document pages and electronic document or indices to electronic documents. The feature extraction and recognition system 108 is also coupled to the database 110 to retrieve electronic document or indices to electronic documents during retrieval. The feature extraction and recognition system 108 is also coupled to output the retrieved electronic document, page, look-at point and viewing region to other computing systems for display with user interfaces.

The database 110 is a conventional type and stores indices, electronic documents, feature descriptions and other information used in the indexing and retrieval process. The database may be a federation of databases. In one embodiment, the database 110 is stored within a multifunction peripheral device.

The system 100 of the present invention is particularly advantageous because it provides a number of benefits. First, it uses a new feature, referred to herein as an invisible junction, that enable the identification and retrieval of a corresponding electronic document, page, look-at point and viewing region. The invisible junction provides stability or independence from noise and viewing condition; is repeatable in both the query image and the model image; provides strong discrimination, and is low dimensional. Second, the present invention provides a very fast recognition and retrieval at a rate of nearly 4 frames per second on a database of 10000 pages. The recognition and retrieval is fast enough for real-time interactive applications. Third, the present invention can use noisy low quality input image such as available with a cell phone camera for recognition and retrieval. In other words, the retrieval operates accurately despite image rotation, scale changes and occlusions. Fourth, the present invention can perform recognition and retrieval on both eastern and western languages. Fifth, the present invention can perform recognition and retrieval on input images that include both text and graphic images in any portion for text to image.

System Embodiments

Referring now also to FIG. 2, a functional block diagram of the feature extraction and recognition system 108 configured in accordance with an embodiment of the present invention is shown. The feature extraction and recognition system 108 preferably comprises a control unit 250, a display device 210, an input device 212, cursor control 214, a communication device 216, and one or more input/output (I/O) devices 218.

The control unit 250 comprises an arithmetic logic unit, a microprocessor, a general purpose computer or some other information appliance equipped to provide electronic display signals to display device 210. In one embodiment, the control unit 250 comprises a general purpose computer having a graphical user interface, which may be generated by, for example, a program written in Java running on top of an operating system like WINDOWS® or UNIX® based operating systems. In one embodiment, one or more application programs are executed by control unit 250 including, without limitation, drawing applications, word processing applications, electronic mail applications, financial applications and web browser applications.

Still referring to FIG. 2, the control unit 250 is shown including processor 202, main memory 204 and data storage device 206, all of which are communicatively coupled to system bus 208.

Processor 202 processes data signals and may comprise various computing architectures including a complex instruction set computer (CISC) architecture, a reduced instruction set computer (RISC) architecture, or an architecture implementing a combination of instruction sets. Although only a single processor is shown in FIG. 2, multiple processors may be included.

Main memory 204 stores instructions and/or data that may be executed by processor 202. The instructions and/or data may comprise code for performing any and/or all of the techniques described herein. Main memory 204 may be a dynamic random access memory (DRAM) device, a static random access memory (SRAM) device, or some other memory device known in the art. The memory 204 is described in more detail below with reference to FIG. 3.

Data storage device 206 stores data and instructions for processor 202 and comprises one or more devices including a hard disk drive, a floppy disk drive, a CD-ROM device, a DVD-ROM device, a DVD-RAM device, a DVD-RW device, a flash memory device, or some other mass storage device known in the art. In one embodiment, data storage device 206 includes database 110. In an alternate embodiment, the database is coupled to the feature extraction and recognition system 108 via communication device 216 and signal line 220 representing a conventional network.

System bus 208 represents a shared bus for communicating information and data throughout control unit 250. System bus 208 may represent one or more buses including an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, a universal serial bus (USB), or some other bus known in the art to provide similar functionality. Additional components coupled to control unit 250 through system bus 208 include the display device 210, the input device 212, cursor control 214, the communication device 216 and the I/O device(s) 218.

Display device 210 represents any device equipped to display electronic images and data as described herein. In one embodiment, the display device 210 is a liquid crystal display (LCD) and light emitting diodes (LEDs) to provide status feedback, operation settings and other information to the user. In other embodiments, the display device 210 may be, for example, a cathode ray tube (CRT) or any other similarly equipped display device, screen or monitor. In one embodiment, display device 210 is equipped with a touch screen and/or includes a digitizer in which a touch-sensitive, transparent panel covers the screen of display device 210.

In one embodiment, the input device 212 is a keyboard. The keyboard can be a QWERTY keyboard, a key pad, or representations of such created on a touch screen. Cursor control 214 represents a user input device equipped to communicate positional data as well as command selections to processor 202. Cursor control 214 may include a mouse, a trackball, a stylus, a pen, a touch screen, cursor direction keys or other mechanisms to cause movement of a cursor.

Communication device 216 links control unit 250 to a network 220 that may include multiple processing systems and in one embodiment is a network controller. The network of processing systems may comprise a local area network (LAN), a wide area network (WAN) (e.g., the Internet), and/or any other interconnected data path across which multiple devices may communicate. The control unit 250 also has other conventional connections to other systems such as a network for distribution of files (media objects) using standard network protocols such as TCP/IP, http, https, and SMTP as will be understood to those skilled in the art.

One or more I/O devices 218 are coupled to the bus 208. These I/O devices may be part of the other systems (not shown). For example, the I/O device 218 can include an image scanner for capturing an image of a document. The I/O device 218 may also includes a printer for generating documents. The I/O device 218 may also include audio input/output device equipped to receive audio input via a microphone and transmit audio output via speakers. In one embodiment, audio device is a general purpose; audio add-in/expansion card designed for use within a general purpose computer system. Optionally, I/O audio device may contain one or more analog-to-digital or digital-to-analog converters, and/or one or more digital signal processors to facilitate audio processing.

It should be apparent to one skilled in the art that feature extraction and recognition system 108 may include more or less components than those shown in FIG. 2 without departing from the spirit and scope of the present invention. For example, feature extraction and recognition system 108 may include additional memory, such as, for example, a first or second level cache, or one or more application specific integrated circuits (ASICs). Further, the feature extraction and recognition system 108 may include multiple data buses rather than the single bus 208. Multiple buses allow fast transfer of image data from and between the components of the feature extraction and recognition system 108, and simultaneous data transfer of user interface information to a display device, for example. Similarly, additional input/output devices 218 may be coupled to control unit 250 including, for example, an RFID tag reader, digital still or video cameras, or other devices that may or may not be equipped to capture and/or download electronic data to control unit 250. One or more components could also be eliminated such as the keyboard & cursor control 212.

FIG. 3 is a block diagram of one embodiment of the memory unit 204 for the feature extraction and recognition system 108. The memory unit 204 preferably comprises: an operating system 302, an application 304, a control module 306, a browser 308, a feature extraction unit 310, a feature indexing unit 312, a feature retrieval unit 314, a geometric estimation unit 316, a video tracker 320, a paper tracker 322, a recognizer 324, a drift corrector 326 and a user interface module 328. Those skilled in the art will recognize that the memory 204 also includes buffers for storing data and other information temporarily during the indexing or retrieval process. As noted above, the memory unit 204 stores instructions and/or data that may be executed by processor 202. The instructions and/or data comprise code for performing any and/or all of the techniques described herein. These modules 302-314 are coupled by bus 208 to the processor 202 for communication and cooperation to system 100. Those skilled in the art will recognized that while the present invention will now be described as modules or portions of a memory unit 204 of a computer, the modules or portions thereof may also be stored in other media such as permanent data storage device 206 and may be distributed across a network 220 having a plurality of different computers such as in a client/server environment.

The operating system 302 is preferably a custom operating system that is accessible to user via an application interface. In an alternate embodiment, the operating system 302 is one of a conventional type such as, WINDOWS®, SOLARIS® or LINUX® based operating systems.

The memory unit 204 also includes one or more application programs 304 including, without limitation, drawing applications, word processing applications, electronic mail applications, financial applications and web browser applications. In one embodiment, the applications 304 specifically utilize the unique capabilities of the other modules or units of memory 204 to bridge the gap between electronic documents and paper documents by enabling users to establish and identify links between a printed paper and its corresponding electronic document. More specifically, the applications 304 access electronic data from a paper and attach/embed electronic data to specific locations on a paper so that a user can later retrieval that electronic data from the paper, using cameras as the tool for the above operations. For example, one application 304 retrieves an electronic file (Microsoft Word, Adobe PDF, etc) of a printed paper in response to the user simply pointing a web-cam and capturing an image of the printed paper. Another example application 304 is a paper-based photo-wiki, which lets the user attach the pictures you have taken to specific locations on a paper map (and its electronic version), by simply pointing the camera to the desired locations on the physical paper map. There are many other applications 304 such as novel user interfaces to access or browse a document database, digitized pen and paper, map navigator, security in copiers and scanners, camera games and duplicate detection for copyright protection.

The control module 306 is used to control the other modules of the memory 204. The control module 306 is adapted for control of and communication with the application 304, the browser 308, the feature extraction unit 310, the feature indexing unit 312, the feature retrieval unit 314 and the geometric estimation unit 316. The operation of the control module 306 will be apparent from the description of FIGS. 4 and 6-9 below. While the control module 306 is shown as a separate module of the memory 204, those skilled in the art will recognize that the control module 306 in another embodiment may be distributed as routines in the other modules 310-316.

The browser 308 is a conventional type such as Internet Explorer by Microsoft® or Firefox by Mozilla. The Web browser is a software application that enables a user to display and interact with text, images, and other information typically located on a Web page at a website on the World Wide Web or a local area network.

The feature extraction unit 310 is software and routines for extracting the invisible junction features from original electronic documents and scanned images of paper documents. In one embodiment, the feature extraction unit 310 includes an input coupled to receive original electronic documents and an output to provide a feature description to the feature indexing unit 312. In another embodiment, the feature extraction unit 310 includes an input coupled to receive an image of a paper document and provide a feature description to the feature retrieval unit 314. In yet another embodiment, the feature extraction unit 310 includes a location determination module, a size determination module, an orientation determination module and a descriptor creator module coupled in series to produce the feature description. The operation of the feature extraction unit 310 is described below in detail with reference to FIGS. 5A-6. The feature extraction unit 310 is coupled for communication with the feature indexing unit 312 and the feature retrieval unit 314.

The feature indexing unit 312 is software and routines for generating one or more indices of invisible junction feature descriptions and storing them in the database 110. In one embodiment, the feature indexing unit 312 uses a quantization tree to index the feature descriptions. The feature indexing unit 312 is coupled to an output of the feature extraction unit 310 to receive invisible junction feature descriptions. The feature indexing unit 312 is coupled to the database 110. The operation of the feature indexing unit 312 is described in detail below with reference to FIGS. 7A and 7B.

The feature retrieval unit 314 is software and routines for creating a query from the invisible junction feature descriptions of a paper document and communicating with the database 110 to retrieve a document, a point and a viewing region of a matching electronic document from the database 110. The feature retrieval unit 314 is coupled to an output of the feature extraction unit 310 to receive invisible junction feature descriptions, and to the database 110 to perform queries and receive results. The possible matching documents, points and viewing regions are output by the feature retrieval unit 314. The operation of the feature retrieval unit 314 is described in detail below with reference to FIG. 8.

The geometric estimation unit 316 is software and routines for sorting the candidate documents output by the feature retrieval unit 314 and selecting a document that includes the largest number of feature points consistent with the geometric constraint. The geometric estimation unit 316 is adapted for communication with the feature retrieval unit 314 and has an output that provides a document, a point and a viewing region that matches the input image patch. The operation of the geometric estimation unit 316 is described in detail below with reference to FIG. 9A.

The present invention also includes the capability to recognize and track the look at position and viewing region base on an input query image. In addition to generating information indicating the document, look at position and the viewing region, the present invention merges that information with the original electronic document to generate novel user interfaces that provide the user with precise information to link very specific locations within the electronic document for actions such as adding annotations or controlling operations. This recognition and tracking capability is provides by the video tracker 320, the paper tracker 322, the recognizer 324 and the drift corrector 326. The control module 306 also controls the operation of the video tracker 320, the paper tracker 322, the recognizer 324 and the drift corrector 326 consistent with the state diagram of FIG. 10C. Those skilled in the art will recognize that in an alternate embodiment, another module such as a recognition and tracking module (not shown) could be use in place of the control module 306. This functionality is described in more detail below with reference to FIGS. 10A and 10C.

The video tracker 320 is software and routines for tracking camera motion as a projective transformation across video frames. The video tracker 320 uses the first video frame as the reference frame, and then outputs information indicating movement the camera. In essence, the video tracker 320 provides the relative motion of the camera between frames. The video tracker 320 is adapted for communication with the feature retrieval unit 314 to receive feature descriptors and has an output to provide generated camera motion information. The operation of the video tracker 320 is described in detail below with reference to FIGS. 10A and 10C.

The paper tracker 322 is software and routines for tracking camera motion with respect to the position of the paper. The paper tracker 322 uses the paper plane as a reference frame, and then outputs information indicating the camera position relative to the paper plane. This information can then be used to translate the information from the video tracker 322 (relative or local coordinate space) to move with reference to the paper (a global coordinate space). The paper tracker 322 is adapted for communication with the feature retrieval unit 314 to receive feature descriptors and has an output to provide paper position information. The operation of the paper tracker 322 is described in detail below with reference to FIGS. 10A and 10C.

The recognizer 324 is software and routines for recognize the document page, location and viewing area, the current video frame, and for initializing the link between paper and the video frame. The recognizer 324 is adapted for communication with the feature retrieval unit 314, the video tracker and the paper tracker 322. The recognizer 324 provides the current video frame and links between paper and the video frame to the paper tracker 322. The operation of the recognizer 324 is described in detail below with reference to FIGS. 10A and 10C.

The drift corrector 326 is software and routines for correcting the link between paper and the video frame. The drift corrector 326 is adapted for communication with the paper tracker 322 and sends signal to make sure the document page, location and viewing area are properly aligned with the paper. The drift corrector 326 provides this information the paper tracker 322. The operation of the paper tracker 322 is described in detail below with reference to FIGS. 10A and 10C.

The user interface module 328 is software and routines for generating the user interfaces shown and described below with reference to FIGS. 10A-10K and 15-19H. In one embodiment, the user interface module 328 works with the video tracker 320, the paper tracker 322, the recognizer 324 and the drift corrector 326 to generate the visual feedback to the user showing the view region and the camera look-at point. In another embodiment, the user interface module 328 works with these components to determine the camera position and uses changes in the camera position as a control mechanism for interfacing the with three-dimensional models and for providing three-dimensional navigation. The operation of the user interface module 328 in this other embodiment is described in more detail below with reference to FIGS. 15 through 19H.

Referring now to FIG. 4, functional flow diagram of an embodiment of a feature extraction and recognition system 108 in accordance with the present invention is shown. The feature extraction and recognition system 108 includes two operational modes: a first mode in which the original electronic document is rendered and input and a feature index is stored for the invisible junction features from the input; and a second mode in which a image patch is input, and a feature description is created and used to retrieve a corresponding document, point and viewing region are output. For convenience and ease of understanding like reference numerals are used for like components having the same or similar functionality as that described above for other embodiments. This second embodiment of the system 108 includes the feature extraction unit 310, the feature indexing unit 312, the feature retrieval unit 314 and the geometric estimation unit 316.

FIG. 4 illustrates the flow of information between the feature extraction unit 310, the feature indexing unit 312, the feature retrieval unit 314 and the geometric estimation unit 316. In particular, the two modes of operation are show with distinct couplings 420, 430. For example, the first mode is shown with the path of double lines 420 in which the original electronic document 402 is rendered and input via signal line 420 to the feature extraction unit 310. The feature extraction unit 310 outputs feature descriptions for the invisible junctions in the document 402 to the feature indexing unit 312 via signal line 402 and the feature indexing unit 312 creates indexes and stores them in the database 110. The second mode is shown with the path of signal lines 430 in which a patch of video data or a video frame 404 is input via signal line 430 to the feature extraction unit 310. The feature extraction unit 310 outputs feature descriptions for the invisible junctions in the video frame 404 to the feature retrieval unit 314 via signal line 430. The feature retrieval unit 314 queries the database 110 via signal line 430 using the feature descriptions and outputs a list of documents having matching features to the geometric estimation unit 316 via signal line 430. The geometric estimation unit 316 applies geometric constraints to select a matching document, point and viewing region 406.

Invisible Junction Features

The present invention has created and utilizes a novel set of features for document patch recognition. The feature points used for document representation and retrieval are the junctions of the intrinsic skeleton existing in document pages. Since these junctions are not visible, i.e., there are in the blank space of the text document or regions with homogeneous colors, we refer to them here as “invisible junctions” or “invisible junction features”. There are four key components in an invisible junction feature:

-   -   Location: the coordinate (x, y) of the feature point, with the         top-left corner of the document page as the origin;     -   Orientation: for setting up a local coordinate system for each         feature point when we compute the description of each feature         point using its neighborhood pixels;     -   Scale: the size of the feature;     -   Description: the content of the feature.

Since the feature content will be determined by all of these key factors, it is critical to have them stable and repeatable. For recognition purpose, the descriptor (feature description) must also be discriminative.

Feature Extraction

Referring now to both FIGS. 5A through 5D and 6, one embodiment of a process for performing feature extraction is described. The process begins by receiving 602 a document. In one embodiment, the feature extraction unit 310 receives 602 an ideal model of an electronic document 402. In another embodiment, the feature extraction unit 310 receives 602 a captured image of a printed document such as a video frame or web camera image 404.

Next, the process determines 604 a location for one or more invisible junctions. In one embodiment, the feature extraction unit 310 detects features at the junctions of the text document skeleton. As shown in FIGS. 5A and 5B for this embodiment, the feature extraction unit 310 binarizes the input image, and then applies a distance transform to the binary image. An example input image 501, the binarization 502 of the input image 501 and the distance transform 503 of the binarization 502 are shown in FIG. 5A. Next a skeleton 504 is detected as boundary of the label fields from the distance transformation. The skeleton 504 alternatively can be the ridge lines of the distance field. In one embodiment, ridge lines are detected as local maxima in one dimension. For the example input of FIG. 5A, the distance transform 503 and skeleton 504 are shown in FIG. 5B. The features are detected as the junction points 506 as shown in FIG. 5B. The junction points 506 alternatively can be the local maxima (in 2D) of the distance transform fields, or the local maxima on the skeleton 504. The use of invisible junctions is particularly advantageous because they are stable and repeatable. The text document contains mostly high frequency image content in the text, which are easily contaminated and hard to filter out without degrading the text. On the contrary, the white space in the text page is mostly stable and contains mostly DC components in the frequency domain. Noise in the white space can be easily filtered out without affecting the feature locations. While the distance transform field depends on the text locations which is desirable since the text content is eventually used for classification, the locations of invisible junction points 506 are robust to noise since the text around each junction are usually contaminated in similar ways.

The process next determines 606 a junction size or scale for the invisible junction. In one embodiment, the distance transformation value at each feature point 506 is intrinsic to the feature point 506. The scale of the feature point 506 is thus assigned as such distance value multiplied by a factor α. As shown in FIG. 5C in the expanded view 512, α is selected as equal to 2 for this example. The content inside the circle 510 (centered at the feature point 506 with radius equal to its scale) is invariant to camera in-plane rotation and zoom (or distance to the paper document when the camera optical axis is perpendicular to the paper). Since the feature is local, i.e., the circle is small, the feature is also robust to changes in camera viewing angles with respect to the paper (out-of-plane rotation). In other words, while global perspective distortion is apparent, locally such perspective effect is very small, and the effect on the final feature descriptor is negligible for a large range of camera out-of-plane rotations. Like the location, the scale of the invisible junction is stable and repeatable. The scale is computed based on the skeleton, and is therefore stable. However, compared to location and orientation, scale is mostly subject to the changes of the nearby texts. In one embodiment, this effect is reduced by applying a weight that is inversely-proportional to the distance value when computing the feature descriptors.

Next, the process determines 608 an orientation for the invisible junction 506. In one embodiment, each feature point 506 is assigned a local orientation. A 2D local coordinate system for each feature point 506 is then determined with the feature location as the origin and its local orientation as the x-axis. The feature descriptor is computed based on this local coordinate system. To derive the local orientation, the feature extraction unit 310 calculates a circle 511 centered at the feature point 506, with a radius determined by the feature scale. This circle 511 intersects the skeleton at several positions. The two positions that are furthest apart (from among all pairs of positions on the circle that intersect the skeleton) determine the local orientation of this feature. If there are two pairs of positions with similar distances, the feature extraction unit 310 selects the one that is closer to a horizontal orientation. FIG. 5D illustrates an example of estimation of feature orientation. The circle 511 centered at the feature point 506 with radius equal to feature scale intersects the skeleton 504 at three points A, B, and C. The two points A and B has largest distance, the feature orientation is therefore assigned as the direction of the line segment AB. Since local orientations are more sensitive to noises, and some of the orientations may even become outliers, the feature extraction unit 310 uses a more global orientation. Specifically, feature points with local orientations vote for a global orientation for the query image. The voting is done by counting the number of local feature orientations in 360 bins (one degree for each bin). The dominant mode of the orientation histogram is the selected as the global orientation. After voting, every feature point is re-assigned its orientation to be consistent with the selected global orientation. In one embodiment, the feature extraction unit 310 uses a soft split scheme when counting the numbers for the histogram to ensure that the histogram will smoothly change when disturbed by noise.

For text patches, the global orientation is stable since there is indeed a dominant orientation, which is also true for most other non-text documents. The present invention can also be adjusted to achieve a tradeoff between pure local orientation and pure global orientation. Specifically, for each feature point, the feature extraction unit 310 can aggregate orientations from its neighbors (as compared to from all feature points in the same image) to determine its orientation. This will resolve the issue that in some languages, such as Chinese or Japanese, the document page could contain both vertical and horizontal text lines.

The orientation of a junction is determined by this skeleton which is stable as discussed above, and is therefore also stable. This is in contrast to the prior art SIFT, where the local orientation is determined by gradients of pixels around the feature point. It is well known that gradient operation amplifies noise, and therefore makes the feature orientation sensitive to noise. Our local orientation is derived from the skeleton and is much more stable. The global voting step makes the feature orientation even more stable, as it utilizes the fact that the camera is looking at a planar page, and also the fact that such page has some dominant orientation in its invisible skeleton.

Next, the process creates 610 a descriptor or feature description for the invisible junction. Referring now also to FIG. 5E, once the location, scale and orientation are determined for a feature, the feature extraction unit 310 assigns a 2D coordinate frame 516 for each feature point 506, and computes its descriptor 518 inside such coordinate frame 516. For each feature, the feature extraction unit 310 computes a square with edge length equal to two times the feature scale. This square is divided into 4×4 cells. In an alternate embodiment, the feature extraction unit 310 can use concentric circles to construct the cells. Inside each cell, the feature extraction unit 310 accumulates a weighted gradient orientation histogram that has 8 bins (i.e., 8 directions). The gradient can be calculated by several techniques including the well known Roberts or Sobel operators. The feature descriptor is the concatenation of such orientation histograms, resulting in a 128-dimensional feature vector. This feature vector is normalized to accommodate linear lighting changes.

In one embodiment, the feature extraction unit 310 applies dimension reduction scheme using Principal Component Analysis (PCA), and reserves the first 14 dimensions. While this might reduce the discriminative power of the features, it helps reduce the noise. For this embodiment, since the cells nearby the center are mostly blank, the dimension reduction is more sensible. This advantageously produces features that are intrinsically low-dimensional, considering that for each class there is only one prototype in our case. The descriptor of the present invention is particularly advantageous because it is discriminative and repeatable. Repeatability is a result of the repeatability of feature location, orientation and scale. As can be seen, the content of each feature point contains pixels from three or more words in the text document. These contents from different words are put together with some specific layout, making the descriptor very discriminative, as there are few chances for such feature point to duplicate in other places, with the same nearby words being put together with same layout. The quantization (4×4 cell and 8 directions) also make the descriptor robust to noise.

Finally, the process determines 612 whether there are more invisible junctions in the document. If so, the method selects an unprocessed junction and continues in step 604 to process it. If there are no more invisible junctions, the processing of the document is complete and ends.

Feature Indexing

As was noted above, the feature indexing unit 312 generates one or more indices of invisible junction feature descriptors and stores them in the database 110. For each model image, the feature indexing unit 312 extracts the feature points and stores them in the database 110. The feature indexing unit 312 also stores metadata associated with each feature point, including location (x, y), orientation, scale, feature descriptor and a unique ID of the document page that contains this feature point. In order to allow fast real time matching and retrieval, the feature indexing unit 312 also indexes this data for efficient storage in and retrieval from the database 110.

Referring now to FIG. 7A, one embodiment of a method for performing feature indexing in accordance with the present invention is shown. The process begins by creating 702 a quantization tree. In one embodiment, the quantization tree is trained by a set of training features using hierarchical clustering. The training set is recursively divided into K clusters. For a quantization tree with K branches and L levels, there is K^(L) leaf nodes, i.e., the vocabulary size is K^(L). For clustering the feature indexing unit 312 uses k-means algorithm with multiple random initializations. At each node of the tree, the feature indexing unit 312 records the cluster center given by the points belonging to this node. Each node of the quantization tree is also associated with a node, using term-frequency-inverse-document-frequency. The quantization tree partitions the feature space in a hierarchical way. Once the quantization tree is created, it is stored 704 in the database 110. Next, a feature point is retrieved or received 706 from the feature extraction unit 310, and is pushed down the tree and added 708 to the database. At each level of the tree, the feature point chooses the branch with a cluster center closest to the feature point. Once the feature point reaches the leaf node, an entry for this feature point is inserted into the hit list of this leaf node, recording the page ID and coordinates (x, y) of this feature point. If the page ID is already present in the hit list, the feature indexing unit 312 appends the coordinates to that existing entry, and increments the frequency of the appearance of that page ID in the hit list. Since the feature point may be at or near to the boundary between two clusters, the feature indexing unit 312 uses a soft split when pushing a feature point down the quantization tree. However this results in a large number of leaf nodes hit by such feature point. As a trade off, the feature indexing unit 312 only inserts the feature point into the closest k (k=2 for now) leaf nodes.

In an alternate embodiment, the feature indexing unit 312 does not store the original feature descriptors. Once the feature indexing unit 312 quantizes the feature space, it can approximate the feature descriptor by its index of its residing cell in the quantization space. For each feature, the feature indexing unit 312 only stores the document page ID that contains this feature, as well as the coordinate of the feature inside the document page. The storage space requires is thereby dramatically reduced.

Referring now to FIG. 7B, another embodiment of a method for performing feature indexing in accordance with the present invention is shown. In this embodiment, the feature indexing unit 312 uses use the traditional k-d tree to organize 722 the feature points. In another embodiment, the traditional k-d tree can be modified to extend the k-d tree for fast disk I/O. The k-d tree partitions the feature space into cells where each cell contains one or more feature points (actually pointers to feature points). During k-nearest neighbor search, it is often required to back-track the tree. The feature indexing unit 312 uses a depth-first linearization of the tree to order the feature points; in such a way that memory/disk locality during back-tracking is preserved. As a result, the cache miss rate is reduced (cache could be the CPU cache if the features reside in the main memory, or memory cache if the features reside in external hard disk drive), and the speed performance be increased. Then the feature indexing unit 312 uses PCA to reduce the feature dimension 724, or more exactly, to find the useful dimensions. Even though our data is intrinsically low dimensional, the low-dimensional space needs to be estimated so that the result k-d tree is well-balanced. The significance of such dimension reduction is not only to meet the low-dimension requirement, but also to order the feature dimensions in such a way that the space partition is most effective. In other words, the space cut is ordered 726 in such a way that the dimension with most energy will be cut first, so that the system 108 can achieve a k-d tree that is not only balanced, but also with cell boundaries that are stable (i.e., small noises will not disturb which cell should the feature belong to).

Feature Retrieval and Geometric Estimation

Referring now to FIG. 8, an embodiment of a method for feature retrieval in accordance with the present invention is shown.

Where indexing is done in accordance with the first embodiment described above with reference to FIG. 7A, the feature retrieval unit 314 sends the feature points detected in the query image down to the quantization, and collects the hit lists at the leaf nodes. This produces a table of candidate document pages, along with a list of coordinates (x, y) for each candidate page. This can be send to the geometric estimation unit for further processing.

In the alternate embodiment of indexing in FIG. 7B, the retrieval process begins with the feature retrieval unit 314 receiving 802 a feature descriptor from the feature extraction unit 310. The feature retrieval unit 314 performs pattern recognition based on local features. The feature retrieval unit 314 searches for the page document whose feature points best corresponded to the feature points of the given query image patch. To establish the correspondence (in other words to recognize), the feature retrieval unit 314 recognizes each feature point in the given image. More specifically, the feature retrieval unit 314 searches 804 the database 110 for the k nearest neighbors (kNN) of a feature point from the query image. The collection of all such points from the database is then divided 806 into sets where points in one set share the same document page ID (recorded as meta-data with the feature point in the database). So for each candidate document page, the feature retrieval unit 314 produces a set of feature correspondences. Note that many of such correspondences are outliers, since for each query point there is at most one true correspondence in its k nearest neighbors.

Those skilled in the art will recognize that various values of k can be used. In one example embodiment, k=10. Other values of k can be used in order to reduce the query time. On alternate method also monitors the distance between the query feature and the current neighbor. Once there is a big jump in the distance, the feature retrieval unit 314 returns k<10 neighbors as the following neighbors are probably outliers (i.e., the true correspondence is probably already in the current k<10 points).

In yet another embodiment, the feature retrieval unit 314 may include scoring using tree-intersection. For each query image, the feature retrieval unit 314 includes a tree representation given the paths that the query points have gone through. The feature retrieval unit 314 constructs a similar tree for each candidate page. The similarity of the query image and a model image is then computed based on the intersection of the two trees. Thereafter the tree intersections can be ranking.

FIG. 9A is a flow chart of a first embodiment of a method for geometric estimation in accordance with the present invention. Once all the candidate page identifications have been identified by the feature retrieval unit 314, they are sent to the geometric estimation unit 316 to rank all candidate document page identifications to generate the final query result. The geometric estimation unit 316 begins by sorting 902 the candidate documents using the number of feature points that each candidate document page has. Then the geometric estimation unit 316 ranks the candidates using geometric constraints. For example, the geometric estimation unit 316 selects the document that contains the largest number of feature points consistent with the geometric constraint of the input image's plane, therefore there is a transformation between the paper plane and the camera imaging plane. Finally, the geometric estimation unit 316 outputs 906 the matching document identification, page, point and viewing region.

FIG. 9A is a flow chart of a first embodiment of a method for geometric estimation in accordance with the present invention. Once all the candidate page identifications have been identified by the feature retrieval unit 314, they are sent to the geometric estimation unit 316 to rank all candidate document page identifications to generate the final query result. The geometric estimation unit 316 begins by sorting 902 the candidate documents using the number of feature points that each candidate document page has. Then the geometric estimation unit 316 ranks the candidates using geometric constraints. For example, the geometric estimation unit 316 selects the document that contains the largest number of feature points consistent with the geometric constraint of the input image's plane, therefore there is a transformation between the paper plane and the camera imaging plane. Finally, the geometric estimation unit 316 outputs 906 the matching document identification, page, point and viewing region.

Referring now to both FIGS. 9B and 9D, a second embodiment of a method for geometric estimation in accordance with the present invention will be described. FIG. 9B shows the steps of method and FIG. 9D shows the imaging plane 956, the paper plane 952 and the transformation between them. The method begins by receiving the candidate page identifications have been identified by the feature retrieval unit 314, and then the geometric estimation unit 316 sorts 910 the candidate document pages based on the number of feature points in each candidate document page. The geometric estimation unit 316 basically uses a geometric constraint to pick the document that contains the largest number of feature points consistent with that geometric constraint. As shown in FIG. 9D, an example geometric constraint comes from the fact that the document page is a plane 952; thus, there is a perspective transformation between the paper plane 952 and the camera imaging plane 956. Since perspective transformation involves 8 independent parameters, and is a non-linear transformation, its estimation is not stable and more expensive before outliers are removed. The geometric estimation unit 316 therefore removes 912 the outliers with an estimated affine transformation. For example, a RANdom SAmple Consensus (RANSAC) algorithm is used to estimate the affine transformation (a realistic approximation of perspective transformation) and to detect the outliers in the feature correspondences. In one embodiment, the geometric estimation unit 316 also performs a validity checking on the affine transformation estimated by RANSAC. For example, an affine transformation is a generic full-rank 3×3 matrix (with last row being [0, 0, 1]), which contains transformations that are physically invalid for our configuration. More specifically, the upper left 2×2 sub-matrix of the affine transformation can be decomposed into rotation α, scales λ₁ and λ₂, and another rotation φ: H _(1:2,1:2) =R(α)(λ₁/λ₂)R(φ)  (1) In accordance with the present invention, the geometric estimation unit 316 enforces the constraint such that the rotation, scale, skew (the ratio λ₁/λ₂) and translation (the third column of affine transformation H) must be bound. For example, it is impossible for the translation to be out of the scope of the document page.

Once the affine transformation is estimated and the outliers are removed 912, the geometric estimation unit 316 refines 914 the affine transformation using the inliers to a projective transformation. The geometric estimation unit 316 uses non-linear optimization (such as Levenberg-Marquardt optimization) with the initialization by the affine transformation to identify the best candidate documents. Since the projective transformation (as well as affine transformation) also gives an estimation of the camera orientation and image scale with respect to the paper, the geometric estimation unit 316 enforces 916 this orientation and scale to be consistent to the orientation and scale voted by features at the feature detection stage. This selection 916 of the best candidate using the geometric constraints from feature extraction effectively reduces the false positive, in some case essentially to zero.

In alternate embodiment, the steps of refining 914 the affine transformation using the inliers to a projective transformation can be terminated once a close match is found. If the geometric estimation unit 316 identifies a document page that results in a valid geometric transformation with enough inlier support, it can safely return the identified document page, without examining other candidate pages. This further increases the performance of the recognition method of the present invention without significant affects on accuracy.

FIG. 9C is a flow chart of a third embodiment of a method for geometric estimation in accordance with the present invention. This embodiment illustrates the use of two separate geometric estimations, and their operation in parallel for increased performance. The process begins by receiving the candidate page identifications that have been identified by the feature retrieval unit 314, and then sorts 920 the candidate document pages based on the number of feature points in each candidate document page. The sorted list of candidate pages is then provided for two separate geometric estimations. One geometric estimation ranks 922 the candidate pages using feature detection with geometric constraints. For example, the rotation or orientation and scale attributes of feature detection are enforced in this geometric estimation. A second geometric estimation ranks 924 the candidate pages using a projective transformation with geometric constraints such as discussed above with reference to FIG. 9B. For example, the camera viewing region and look at point attributes in the projective transform are enforced in this second geometric estimation. Those skilled in the art will recognize that these two geometric estimations may be performed in parallel or serially. The two page rankings are then verified or reconciled 926. For example, the verification or validation requires that the features be physically meaningful and that they are consistent with the scale and orientation estimated by the feature extraction unit 310. Once the results of the two geometric estimations are validated to produce a single re-ranked candidate list, the geometric estimation unit 316 outputs the document identification, page, point and viewing region.

Recognition and Tracking

When a user moves the camera over the paper document, for example scanning for hot-spots where electronic data or other annotations are associated with locations on the paper, the present invention does not need to issue a fresh query for each video frame. Instead, the present invention utilizes the previous recognition results for inferring the ID of current frame as well as the camera look-at point on the paper. In order to do this, the present invention tracks the camera to infer its motion with respect to the document page being imaged. Directly estimating the camera 3D motion between two video frames is not reliable, since there are several ambiguities among the 3D camera motion parameters (e.g., out-of-plane rotation vs. translation, zooming in/out vs. moving to/from the paper). To avoid such problems, the present invention directly tracks the 2D camera look-at point on the paper and infers the camera motion state utilizing temporal redundancy. Tracking 2D camera look-at point is realized by tracking feature points across video frames, and then estimating planar motions (projective transformation) between video frames. Furthermore, in addition to using previous results for the recognition of current frame, by tracking the present invention also accumulates information from multiple frames for a fresh recognition, when previous recognition results are not available.

Referring now to FIG. 10A, one embodiment for a method for a combined process of recognizing and tracking in accordance with the present invention will be described. The process begins by recognizing 1002 a document page. This initial recognition step 1002 can be performed using any one of the recognition methods described above with reference to FIGS. 9A-9C. Once the feature extraction and recognition system 108 identifies the document page, it tracks the camera look-at point by registering the query image and the result document page. In other words, the feature extraction and recognition system 108 first tries to “recognize” the query image using the previously retrieved page. Furthermore, the feature extraction and recognition system 108 combines frame tracking and recognition. Recognition acts as initialization and the drift corrector 326 tracks continuous video frames.

Next, the process of the present invention estimates 1004 the mode of the camera. In this embodiment, the feature extraction and recognition system 108 maintains a state machine for determining when to track, to recognize or to correct the drift for tracking. The state machine is illustrated in FIG. 10C and described more detail below. The changes in the mode of the camera cause transition between states. The feature extraction and recognition system 108 estimates the dynamics mode of the video camera and is defined to have the following states:

-   -   Hovering: the camera is mostly steady and looking at the paper         document;     -   Scanning: the camera is scanning the document by translating         and/or rotating;     -   Zooming: the camera is moving to or from the document page; and     -   Abrupt change: the camera is moving to another document page.

Once the mode has been estimated 1004, the feature extraction and recognition system 108 determines 1006 the current state of tracking. The present invention provides four different states of tracking in which either the video tracker 320, the paper tracker 322, the recognizer 324 or the drift coordinator 326 are active. Depending on the current state of tracking and the camera mode, the process transitions between the video tracking state, recognizing state, the paper tracking state or the drift correcting state. Next, the method of the present invention processes 1008 a video frame based on the estimated camera mode and the determined state.

The information provided by the video tracker 320, the paper tracker 322, the recognizer 324 or the drift coordinator 326 can be used to generate or modify 1010 a graphical user interface. This graphical user interface can be combined with a representation of the electronic document. In one embodiment, the graphical user interface includes a plurality of visual indications 1022, 1024 of viewing regions, a visual indication 1026 of a transition path generated from the from each frames captured by the image capture device 106. These components 1022, 1024, 1026 of the graphical user interface can be overlaid upon an image of the recognized electronic document 1020. A graphical representation of an example user interface generated by the method for combined recognizing and tracking in accordance with the present invention is shown in FIG. 10B. It should be noted that the step of modifying 1010 the graphical user interface is shown in FIG. 10A with dashed lines indicating that this step is optional. The information generated in recognizing and tracking could be used for variety of different applications including a user input control device or an annotation tool for use with a desktop computer, and those skilled in the art will recognize that generating and presenting a graphical user interface is just one application for the combined recognition and tracking method of the present invention.

Once the graphical user interface has been modified, generated or displayed 1010, the method of the present invention determines 1012 whether there are additional input image frames to process. If so the method retrieves the next image frame and returns to step 1004, and performs steps 1004, 1006, 1008 and 1010 on the next image frame. If there are no additional input image frames to process, the method is complete and ends.

Referring now also to FIG. 10C, a state diagram of the process used for recognizing and tracking in accordance with the present invention is shown. The process begins in state one 1052, where the video tracker 320 tracks the camera motion (as a projective transformation) across video frames with the first video frame being the reference frame. As long as the camera mode is not in the hovering mode, the process of the present invention remains in state one 1052. However, if the camera mode changes to the hovering mode, the process of the present invention transitions to state two 1054. In state two 1054, the recognizer 324 is operational. The recognizer 324 recognizes the current video frame and initializes a link between paper and the input video frame. If recognition fails the process of the present invention returns to state one 1052. On the other hand, if recognition succeeds the process of the present invention transitions to state three 1056 because a link between the paper and video frame has been established and the following frames will be processed by the paper tracker 322. In state three 1056, the paper tracker 322 tracks the camera motion with respect to the paper with the paper plane acting as a reference frame. The paper tracker 322 also operates a periodic timer. Once the periodic timer expires, the process of the present invention transitions from state three 1056 to state four 1058. In state four 1058, drift coordinator 326 provides drift correction of the paper tracker 322. This ensures that the alignment between the image and the paper is maintained. Once drift correction has been completed, the process of the present invention returns to state three 1056 and the following frames are processed by the paper tracker 322. As long as paper tracking is successful, the method of the present invention remains in state three 1056 with periodic transitions to and from state four 1058 for drift correction. However, if paper tracking is not successful, the method of the present invention returns to state one 1052 and the following frames are processed by the video tracker 320.

It should be noted that a feature point appears multiple times in a video clip. By tracking the present invention associates these examples of a same feature point, and uses them together to retrieve the kNN of such feature point. For example in an alternate embodiment, the present invention can perform super-resolution by integration over time, or even simply choose the instance with best resolution or viewing angle for retrieval. When given a new frame to be recognized, many of the feature points might already have their ID and therefore k-nearest neighbors from previous frames. As a result, the present invention is able to eliminate many kNN retrievals by simply tracking feature points across video frames.

Referring now to FIGS. 10D-10K, graphical representations for an example user interface generated by the combined recognizing and tracking in accordance with the present invention are shown. For this example, the user interfaces provided are for a portable computing device such as a smart phone. Those skilled in the art will recognize that this display format is only used by way of example and that the components of the graphical user interface may be used in a variety of other configurations. Furthermore, the particular color, format, shape and appearance of the visual representations are provided only by way of example and any number of other visual representations may be used. Throughout the description of FIGS. 10D-10K like reference numerals are used to indicate like components with the same or similar functionality.

FIG. 10D illustrates an example graphic user interface (GUI) including a window 1050 having a label 1052 with a conventional format. Within the window 1050, is a display area 1054 for showing the recognition and tracking GUI. Display area 1054 includes a selectable start button 1056 and a button 1058 for closing the window of the display area 1054. Once the start button 1056 has been selected, the GUI is updated to the display shown in FIG. 10E.

FIG. 10E illustrates the GUI with the display area 1054 showing the first input image. In other words, the GUI displays the input query image that is being captured by the camera or input device 106. After the GUI of FIG. 10E has been displayed the method transition to showing the GUI of FIG. 10F.

FIG. 10F illustrates the GUI with the display area 1054 after recognition has succeeded. Once recognition has succeeded, the GUI shows the full pathname 1060 of the electronic document recognized by the system 108 in the display area 1054. The button 056 in the GUI is also modified to be a stop button 1056. After the GUI of FIG. 10F has been displayed the method transitions to showing the GUI of FIG. 10G.

FIG. 10G illustrates the GUI showing a representation of the original electronic document in the display area 1054. Overlaid on top of this representation is a camera viewing window 1062 and a plurality of camera-look-at points 1064 as recognized by the present invention. This is the interface shown during operation of the paper tracker 322. This view is particularly advantageous because of the very specific alignment of a point on the paper with a point in the electronic document, and especially the visual feedback provided to the user indicating that relationship.

FIG. 10H illustrates the GUI showing a blurry image that cannot usually be recognized in the display area 1054. After the recognition and tracking process of the present invention has been operational for a small amount of time, the redundancy in the images input allows recognition. FIG. 10I illustrates the GUI including a representation of the electronic document shown in the display area 1054 overlaid with a viewing window 1062 and camera-look-at points 1064. The camera-look-at points 1064, 1066 in this embodiment are represented by green squares. The positions of these green squares 1064, 1066 show the trajectory of the camera tracking results. The present invention advantageously makes an image that was initially unrecognizable, recognizable after a small matter of time because the number of frames with redundant data that are processed. For example, within a matter of a few seconds, and initially unrecognizable image can be transformed into the recognizable image and the GUI created with the visual representations of the present invention as shown in FIG. 10I.

FIG. 10J illustrates the GUI showing another example of an initially unrecognizable image. This example illustrates how the recognition and tracking method of the present invention is particularly advantageous for images that contain both text content and graphical content. The initial unrecognizable image contains little text for performing feature extraction and feature retrieval. Referring now also to FIG. 10K, a GUI shows the results of combined recognition and tracking. While the viewing region 1062 was not initially recognizable, once the image frame has been recognized, the tracking of the present invention allows the GUI to show the tracking of the look-at-camera points. The tracking resolves the ambiguity issue as the input image has many hits in the database but tracking provides context cue so that the final output is unique. While the images are initially unrecognizable, once the image begins to include a sufficient amount of text to identify this document, the relative movement of the camera is captured images and provides modifications to the position of the viewing window 1062 as shown by the trajectory of the camera look at points 1064, 1066. Thus, as the viewing window moves from a point including a significant amount of text to a previously unrecognizable point having little text as shown in FIG. 10K, the point with little text becomes recognizable. This is particularly advantageous for documents that mix text and graphic images.

Security and Annotation Applications

Referring now to FIG. 11, a particular example of the present invention integrated into a multi-function peripheral 1100 is described. In particular, the feature extraction and recognition system 108 can be integrated into the multi-function peripheral 1100 along with other modules for security and annotation to provide a unique set of applications. While this integrated embodiment of the present invention will be described below in the context of a multi-function peripheral 1100, those skilled in the art will recognize that this multifunction peripheral 1100 could have any number of configurations from a low end multi-function desktop printer to a high end, commercial grade, multifunction photocopier, or any configuration in between.

In one embodiment, the multifunction peripheral 1100 comprises: a scanner 1102, a printer 1104, a facsimile module 1106, a processor/controller 1108, an input/output device 1110, a database 1112, the feature extraction and recognition system 108, a communication device 216, a database updating unit 1114, a security module 1116, and an annotation module 1118. Like reference numerals have been used to indicate components with the same or similar functionality to that described above with reference to these components. The scanner 1102, the printer 1104, the facsimile module 1106, the processor/controller 1108, the input/output device 1110, the communication device 216 and the database 1112 are similar in functionality to conventional components of a high-end commercially available photocopier; and therefore will not be discussed extensively here.

The scanner 1102 is any of a variety of conventional image capture devices.

The printer 1104 is any one of a variety of conventional print engines and paper handling mechanisms.

The facsimile module 1106 is conventional hardware or software and cooperates with the processor/controller 1108 and the communication device 216 to receive and send facsimile messages.

The processor/controller 1108 is similar to the processor 202 described above with reference to FIG. 2.

The input/output device 1110 includes the functionality of devices 210, 212 and 214 described above with reference to FIG. 2, and in one embodiment, includes a keypad input and display output capabilities found in a photocopier.

The communication device 216 has been described above with reverence to FIG. 2. In one embodiment, the communication device 216 couples the multifunction peripheral 1100 to a network (not shown) via signal line 1052.

FIG. 11 illustrates two alternate embodiments for the database 110, 1112. In either embodiment, the database 110, 1112 represents non-volatile data storage, and preferably stores data including electronic documents, feature indexes and feature descriptors as has been previously described above. In yet another embodiment, the database 110, 1112 stores mixed-media reality (MMR) documents as described in co-pending U.S. patent application Ser. No. 11/461,017, filed Jul. 31, 2006, entitled “System and Methods for Creation and Use of a Mixed Media Environment” which is herein incorporated in its entirety by reference. In the first embodiment, the database 1112 is included within the multifunction peripheral 1100. In the second embodiment as shown with dashed lines, the database 110 is coupled to the multifunction peripheral 1100 by signal line 1052 and a communication device 216 and is external to the multifunction peripheral 1100. Those skilled in the art will recognize that the database 110, 1112 also stores a variety of other information generated by the feature extraction and recognition system 108, the database updating unit 1114, the security module 1116 and the annotation module 1118. Throughout the remaining part of the description the invention will be described as using database 1112, however it should be understood that either database 1112 or database 110 can be utilized for those applications.

The feature extraction and recognition system 108 as the functionality that has been described above. The feature extraction recognition system 108 is also adapted to be controlled by the processor/controller 1108 and cooperate with the database updating unit 1114, the security module 1116 and the annotation module 1118 as will be described below with reference to FIGS. 12, 13 and 14.

The database updating unit 1114 is software and routines for operating on the processor/controller 1108 to provide the functionality that will be described below with reference to FIG. 12. The database updating unit 1114 is adapted for communication with the feature extraction and recognition system 108, the scanner 1102, the input/output device 1110, the database 1112 and a processor/controller 1108. The database updating unit 1114 utilizes the capabilities of the feature extraction and recognition system 108 to identify scanned documents and update entries in the database 1112. For example in one embodiment, the database updating unit 1114 receives and stores information in the database 1112, uses the feature extraction and recognition system 108 to determine if there is a corresponding electronic document stored in the database 1112, and creates an association between the received information and the recognized electronic document in the database 112.

The security module 1116 is software and routines for operating on the processor/controller 1108 to provide document security. More specifically, the security module 1116 controls whether the functionality of the multifunction peripheral device 1100 can be used to copy or transmit a document that the user has scanned. The security module 1116 is adapted for communication with the scanner 1102, the processor/controller 1108, the input/output device 1110, the database 1112 and the feature extraction recognition system 108. The security module 1116 determines from an input image whether there is a corresponding electronic document stored in the database 1112 and whether that document has a security protocol associated with it. If so the security module 1116 executes routines on the processor/controller 1108 to implement the associated security protocol. The operation of the security module 1116 is described in more detail with reference to FIG. 13 below.

The annotation module 1118 is software entertains for operating on the processor/controller 1108 to provide annotations to electronic document stored in the database 1112. It should be understood that while the annotation module 1118 is described here in a context of being part of the multi-function peripheral 1100, the annotation module 1118 could be operational on other devices such as a cellular telephone, a personal computer, or a server associated with the database 110. The annotation module 1118 is adapted for communication with the scanner 1102, the processor/controller 1108, the input/output device 1110, the feature extraction recognition system 108 and the database 1112. The operation of the annotation module 1118 is described in more detail below with reference to FIG. 14.

Referring now to FIG. 12, a method for using invisible junction recognition as a part of document security in accordance with the present invention is described. The process begins by scanning 1202 an image of a document or a portion of the document. Next, the multifunction peripheral 1100 performs feature extraction and retrieval 1204 using the feature extraction and recognition system 108. As has been described above, this produces information about a recognized electronic document or an indication that recognition is not possible. Next, the method determines 1206 whether feature recognition identified a matching electronic document. If the feature extraction and recognition system 108 was unable to identify a matching electronic document, the process continues and processes 1208 the input scanned image as it normally would. For example, this normal processing could include making a copy, sending a facsimile message, e-mailing a scanned image or any one of the other conventional functions performed by the multifunction peripheral 1100. For ultra-high-security environments, this normal processing could include disabling the functions of the multifunction peripheral 1100 and displaying a message to the user on the input/output device 1110 indicating that the scanned image does not have an electronic equivalent and/or could not be recognized.

However, if the feature extraction and recognition system 108 was able to identify a matching document, the process continues by determining 1210 a security procedure associated with the scanned image. In one embodiment, the database 1112 includes a security procedure for each image indexed and stored in the database 1112. Once the associated security procedure has been determined 1210, the security procedure is retrieved and the scanned image is processed 1212 using the retrieved security procedure. Those in skilled in the art will recognize that any number of security procedures may be implemented by the multifunction peripheral 1100 in step 1212. The following security procedures are provided by way of example and not by way of limitation as processes that the multifunction peripheral 1100 may implement. Furthermore, each of the security procedures may be combined with others for increased security and functionality.

In a first security procedure, the security module 1116 causes the input/output device 1110 to output a request for a user's password. The input output device 1110 receives the password and confirms it against that corresponding to the user's ID such as may have been input to access the functionality of the multifunction peripheral 1100. If the input password matches information stored in the database 1112 the processor/controller 1108 causes a printout of the scanned image to be produced by the printer 1104. On the other hand if the input password does not match, the multifunction peripheral 1100 will not output any documents. This ensures that only an individual with the password can make a copy of the scanned document. Alternatively, the user's access code may be used instead of a password. In such a case, only those users authorized to copy a document will be allowed to do so. The user's identity will be verified by the access code used to gain access to the multi-function peripheral 1100.

In a second security procedure, the security module 1116 stores a record in the database 1112 indicating that the recognized document was printed and outputs a copy. Under this security procedure, the security module 1116 may record the time, number of copies, method of output, whether the image or the electronic document was used to generate the output and a recipient that were used. If the multifunction peripheral 1100 requires that the user enter an access code, the access code could also be recorded in the database 1112.

In a third security procedure, the security module 1116 inhibits or presents a copy from being output by the multifunction peripheral 1100. In this scenario, the document may be extremely restricted in access and may not be allowed to be copied. The security module 1116 automatically enforces that procedure.

In a fourth security procedure, the security module 1116 generates a notification and sends the notification such as by facsimile or e-mail to a manager or administrator. The notification could indicate that the recognized document has been copied. Alternatively, the notification could indicate that an attempt to copy the document was made. In this scenario, the security module cooperates with the processor/controller 1108 to generate the message and the facsimile module 1106 is sent by facsimile or the communication device to 16 is sent electronically such as by e-mail or instant messaging.

In a fifth security procedure, the security module 1116 operates in a cooperative environment in which multiple users access and annotates a single document. In this environment, the security module 1116 cooperates with the processor/controller 1108 to determine whether the input image corresponds to: 1) a document that has been updated since the input scanned image was produced, 2) a page or portion of a much longer document, 3) an original electronic document stored in the database 1112 or 4) a previously copied or printed version of the document. In any one of these instances, the security module 1116 can output a different document than the document scanned. For example, the updated version of the document could be output, the entire document to be output, a perfect copy generated from the old electronic original could be output or the previously copied or printed version could be output.

While the security procedures described above were primarily discussed in the context of copying, those skilled in the art will recognize that the security procedures may be applied to any function performed by the multifunction peripheral 1100. For example, the security procedures may also be applied to facsimile transmission of the input image by the multifunction peripheral 1100 or electronic transmission such as e-mail or instant messaging of the input image by the multifunction peripheral 1100.

Referring now to FIG. 13, a method for using invisible junction recognition as a part of database updating and document processing in accordance with the present invention is described. While the present invention will be described with reference to mixed-media reality (MMR), those skilled in the art should recognize that the method described here is applicable to any type of updating to the database 1112 that maybe required or desirable. The method begins with steps similar to those described above with reference to FIG. 12, namely scanning 1202 an image, performing feature extraction and retrieval 1204 and determining 1206 whether feature recognition identified a matching electronic document. If a matching electronic document is not recognized, the method proceeds to step 1208 in which the document is processed normally. This entails processing the input image as requested by the user using the input/output device 1110.

However, if a matching electronic document is recognized, the method prompts 1302 the user for processing and updating instructions. In one embodiment, the database updating unit 1114 causes the input/output device 1110 to display a request for processing and updating instructions. The user then responds using the input/output device 1110 to provide the processing and updating instructions. Example processing instructions include: 1) associating the scanned image with the matching electronic document; 2) adding metadata and associating it with the matching electronic document; 3) creating a new independent MMR document; 4) generating an index for the scanned image and storing it in the database 1112; and 5) receive/retrieve additional information and associating it with the matching electronic document. Once the user has input processing and updating instructions, the method updates 1304 the database 1112 according to the input user instructions. Once the database 1112 has been updated, the scanned image is processed 1306 in accordance with the input user instructions, and the process is complete and ends.

Referring now to FIG. 14, a method for using invisible junction recognition as a part of mixed media reality database annotation and document processing in accordance with the present invention is described. The method begins with steps similar to those described above with reference to FIG. 12, namely scanning 1202 an image, performing feature extraction and retrieval 1204 and determining 1206/1402 whether feature recognition identified a matching electronic document. In this embodiment, the invention is discussed in the context of an MMR document although it can be generalized to any electronic document. Specifically, the determining step may be the identification of an MMR document that includes a representation of a portion of the printed document, an action or second media, an index or hotspot, and an electronic representation of the entire document. If a matching electronic document is not recognized, the method proceeds to step 1208 in which the document is processed normally. This entails processing the input image as requested by the user using the input/output device 1110.

If a matching MMR is recognized, the method proceeds to prompt 1404 the user for processing and updating instructions. In one embodiment, the annotation module 1118 causes the input/output device 1110 to display a request for processing and updating instructions. The user then responds using the input/output device 1110 to provide the processing and updating instructions. Additionally, the user inputs any type of annotation such as text, sound, video or other information that may be captured by input/output devices 1110 coupled to the multifunction peripheral 1100. For those embodiments where the annotation module 1118 is included as part of a cell phone, the type of annotations available would be limited to the input/output capabilities of the cell phone. Next, the annotation module 1118 receives 1406 the processing instructions and an annotation from the user. The annotation module 1118 then updates 1408 the database 1112 according to the input user instructions. In one embodiment, the annotation information is added to an MMR document. Once the database 1112 has been updated, the scanned image is processed 1410 in accordance with the input user instructions, and the process is complete and ends.

User Interface and 3D Navigation

As noted above, the present invention is particularly advantageous because in the process of performing recognition, the recognizer 324 and associated components generate information about the position of the camera imaging plane, and therefore the camera, with respect to the document or paper plane. This information includes camera pose (including camera position and orientation) with respective to the paper plane, which is derived from the estimated projective transformation between the camera imaging plane and the paper plane. Given camera intrinsic parameters, the recognizer 324 estimates the camera pose with respect to the paper for every video plane. The camera intrinsic parameters can be estimated online, or one can pre-calibrate the camera for the intrinsic parameters. In particular, in tracking applications where a plurality of video frames are processed and in which this information is generated for each frame, this information can be used as part of a user interface to provide a new way to input commands and instructions to a computing system by using both the printed document and the camera pose relative to that printed document. Those skilled in the art will recognize that the use of the camera pose relative to the paper as a construct for performing operations and inputting commands can be part of any number of different graphical user interfaces and the two described below are provided merely by way of example. This unique construct of the present invention will now be described with reference to two different graphical user interfaces. These graphical user interface examples combine features of the electronic document identification and navigation of three-dimensional models. The first graphical user interface example provides electronic document identification from a paper document, and three-dimensional model retrieval with subsequent navigation semi-independent of the original document. The second graphical user interface example provides three-dimensional model retrieval and three-dimensional navigation of the model based upon the camera pose relative to a two-dimensional printed document.

Referring now to FIG. 15, an embodiment of a method for using invisible junction recognition as a part of a user interface to control display of a three-dimensional model in accordance with the present invention will be described. In one embodiment, the three-dimensional user interface module 328 in cooperation with the other components of memory unit 204 operate to perform method shown in FIG. 15. The process begins by receiving 1202 an image, performing 1204 feature extraction and retrieval and determining 1206 whether there is a matching electronic document based on comparisons of invisible junction descriptors as has been described above with reference to FIG. 12. If no matching electronic document is found in the determining 1206 step, the method of the present invention generates a message indicating that there is no additional content associated with the input image and the method is complete and ends.

On the other hand, if it is determined 1206 that a matching document exists, the method of the present invention continues in step 1504. In step 1504, the method determines whether there is a three-dimensional model associated with the document page, viewing position or camera look at point. Since the feature extraction and retrieval step 1204 generates this information for the scanned image, the information can be compared to information in the database 110 for the existence of any associated three-dimensional model. Next method retrieves 1506 the three-dimensional model and associated data from the database 110. The object model stored in database 110 can be represented by three-dimensional model, panoramic image of the object, or a sequence of pre-taken images of the object. Then the method displays 1508 the three-dimensional model and data in an initial view. The viewing angle of the three-dimensional object is defined by pose of the camera (e.g., cell phone) with respect to the paper. By tracking the camera pose with respect to the paper, the user can get a continuous view of the object model from different viewing angles. The object model could be specified by a three-dimensional geometric model plus texture maps, or a panoramic image of an object.

Referring now also to FIGS. 17A and 17B, a first example of the user interface is shown. FIG. 17A shows a graphic presentation of a paper document 1702 that has an example webpage with information about an automobile. A viewing region that is captured by the image capture device 106 is shown as a generally rectangular box and the noted as a 1704 is not present on the printed page 1702 but is shown in FIG. 17A to illustrate the relationship between the printed document 1702 and the captured image 1706 shown in FIG. 17B. FIG. 17B shows a graphic representation of the image 1706 captured by the image capture device 106. Since the viewing region 1704, and the electronic document can be identified by processing the image 1706 as has been described above using invisible junctions, a three-dimensional model that has been associated with that portion of the image 1706 can be retrieved and displayed. FIG. 17B also shows the initial view 1708 of the three-dimensional model retrieved in step 1508.

Referring now also to FIGS. 19A and 19B, a second example of the user interface is shown. FIG. 19A is a graphic representation of a map that has been printed on paper 1902. Although not shown on the paper 1902 itself, a viewing region 1904 and a camera-looks-at point 1906 are shown to illustrate the present invention. FIG. 19B is a graphic representation of an image captured by image capture device 106. The display of the image also includes the display of the camera-look-at point 1906. FIG. 19B also shows a graphic representation of an initial image view 1910. In this example, the initial image 1910 is a real world plan view of the geographic area corresponding to the geographic area represented by the portion of the map in the captured image. This initial view using the GUI of the present invention includes a camera look at point 1912.

Once the method of the present invention has displayed 1508 the three-dimensional model or data in the initial view, the method continues to determine whether the image capture device 106 is providing additional frames or images of data. If not, the method is complete and ends. However if additional frames or images of data are being provided, the method of the present continues in step 1512 where the next frame is processed. In step 512, the user interface module 328 retrieves the next frame and determines the camera pose for that frame. Next method determines 1514 the change in camera position between the current frame and the next frame. Since for each frame the camera position and orientation are known, the difference between the current and next camera position can be calculated and represented as a vector. Next, the display of the three-dimensional model and data are updated 1516 based on the change in position to determined in step 1514. The process for modifying the display will be described in more detail below for the first example with reference to FIGS. 16 and 17, for the second example with reference to FIGS. 18 and 19. Once the display has been updated 1516, the method returns to step 1510 to determine whether additional frames or images are being received. If so, the method loops through steps 1512, 1514 and 1516 for each frame. In an alternate embodiment, the loop may be performed for every nth frame where n is an integer greater than 2.

Referring now to FIG. 16, an embodiment of the method for updating a display of a three-dimensional model based on a change in the input device position will be described. The method shown and described with reference to FIG. 16 will also be illustrated for the first example of the graphical user interface for three-dimensional navigation shown in FIGS. 17A to 17I. As has been noted above, step 1514 determines the change in camera pose. In this embodiment, the determination of a change in camera position and orientation has six possible changes. The determined change in camera position may be one of the following states: 1) the camera may be rotated to the left, 2) the camera may be rotated to the right, 3) the camera may be rotated upward, 4) the camera may be rotated downward, 5) the camera may be rotated clockwise, 6) the camera may be rotated counterclockwise, and 7) no change. Depending on the determined change in camera position, the method transitions from step 1514 to a corresponding step 1602, 1604, 1606, 1608, 1610 or 1612.

For example, if the determined change in camera pose is rotated to the right, the method continues in step 1604 to rotate the view of the three-dimensional model to the right. By comparing the page, viewing region, captured image and three-dimensional model shown in FIGS. 17A and 17B to the page, viewing region, captured image and three-dimensional model shown in FIGS. 17C and 17D the input command generated by movement of the camera and the resulting change in the graphical user interface of the present invention can be clearly seen. FIG. 17A shows the paper document 1702 as has been described above. FIG. 17B shows the image captured 1706 from the viewing region 1704 as well as the initial view 1708 of the three-dimensional model. In contrast, FIG. 17C shows the paper document 1702 essentially the same as in FIG. 17A, except that the viewing region 1712 has a trapezoidal shape that reflects rotation of the camera to the right. This in turn yields the image captured 1714 in FIG. 17D and causes the display of the three-dimensional model to be modified to show a side view 1716 as shown in FIG. 17D.

If the determined change in camera pose is rotated to the left, the method continues in step 1602 to rotate the view of the three-dimensional model to the left. This causes image capture device 106 to produce the image 1718 of FIG. 17E and the user interface module 328 to display the three-dimensional model modified to show a front view 1720 shown in FIG. 17E.

If the determined change in camera pose is rotated up, the method continues in step 1606 to rotate the view of the three-dimensional model to show the top of the model. This causes image capture device 106 to produce the image 1722 of FIG. 17F and the user interface module 328 to display the three-dimensional model modified to show a plan view 1724 shown in FIG. 17F.

If the determined change in camera pose is rotated down, the method continues in step 1608 to rotate the view of the three-dimensional model to show a bottom perspective view of the model. This causes image capture device 106 to produce the image 1726 of FIG. 17G and the user interface module 328 to display the three-dimensional model modified to show a partial bottom view 1728 shown in FIG. 17G.

As shown in FIG. 16, other positional changes such as moving of the camera in a clockwise or counterclockwise direction may cause the graphical user interface to display additional data. For example, if the change in camera pose is clockwise, the method of the present invention shows 1610 a first data set along with the current three-dimensional model being shown. Alternatively, the display could transition to the display of the first data set only. If the change in camera pose is counterclockwise, the method of the present invention shows 1612 its second data set along with the current three-dimensional model that was displayed. In particular, turning the camera to the right would cause price information about the vehicle to be displayed, while turning the device of laughed would cause a list of options or accessories for the vehicle to be displayed. Those skilled in the art will recognize that other 3-D motions of the camera can be translated into menu selections, and thereby create any number of GUIs each having different configurations of input command associated with different three-dimensional motions of the camera. Yet another application of the method of the present invention is to utilize the image capture device 106 position as an input tool for conventional desktop applications. For example, the present invention may be used as an input device along with a piece of paper to provide searching, annotation, and modification commands to applications such as spreadsheets, presentation program, word processing program, and other applications that provide annotation of documents with audio, video and pictures.

Referring now to FIG. 17H, another example user interface is shown. FIG. 17H shows a graphical representation of a piece of paper 1750. The piece of paper 1750 includes an advertisement for an automobile. Although not shown on the piece of paper, a viewing region 1752 and camera look at points 1754 are shown overlaid on a piece of paper in FIG. 17H. In this embodiment, movement of the camera to the left, right, or up causes translation of the image displayed in the graphical user interface such as shown for three examples translate right 1756, translate left 1758 and translate up in FIG. 17I.

Referring now to FIG. 18, a second embodiment of the method for updating a display of a three-dimensional model based on a change in the input device position will be described. The method shown and described with reference to FIG. 18 is also illustrated for the second example of the graphical user interface for three-dimensional navigation shown in FIGS. 19A to 19H. In particular, in this example the image capture device 106 (camera or cell phone) is positioned over a piece of paper such as a map. As has been noted above, step 1514 determines the change in camera pose. In the embodiment, the determination of a change in camera pose has six possible changes. The determined change in camera pose may be one of the following states: 1) the camera may moved up or down, 2) the camera may pan right, 3) the camera may pan left, 4) the camera may rotated clockwise or counterclockwise, 5) the camera may be moved north or south, 6) the camera may moved east or west, and 7) no change. Depending on the determined change in camera pose, the method transitions from step 1514 to a corresponding step 1802, 1804, 1806, 1808, 1810 or 1812. Each of the steps 1802, 1804 and 1806 different three-dimensional views of the terrain corresponding to the real world location represented by the map/paper. These steps pan left, pan right or show the front or rear views. The GUI advantageous also provides for plan views of the terrain and movement of the point of view. Each of the steps 1808, 1810 and 1812 provides and adjustment of an aerial view such as rotating the aerial view, moving the aerial view up or down to cover a region or moving the aerial view left or right to cover a new region. Examples for some of these adjustments to the GUI are shown and described below with reference to FIGS. 19A-19H

For example, if the determined change in camera pose is tilting the camera down, the method continues in step 1802 to modify the view of the three-dimensional model from a plan view to a front perspective view. By comparing the page, viewing region, captured image and three-dimensional model shown in FIGS. 19A and 19B to the page, viewing region, captured image and three-dimensional model shown in FIGS. 19C and 19D the input command generated by movement of the camera and the resulting change in the graphical user interface of the present invention can be clearly seen. FIG. 19A shows the paper document 1902 as has been described above. FIG. 19B shows the image captured 1908 from the viewing region 1904 as well as the initial view 1910 of the three-dimensional model. Once the image is recognized, the GUI can display a version of the map with the camera viewing region shown as a quadrangle. The camera look at point 1906 is shown also shown. The corresponding terrain data 1910 and camera look at point 1912 are also shown in FIG. 19B. In contrast, FIG. 19C shows the paper document 1902 essentially the same as in FIG. 19A, except that the viewing region 1914 has a trapezoidal shape that reflects movement of the camera to the downward. This in turn yields the image captured 1916 in FIG. 19D and causes the display of the terrain data to be modified to show a three-dimensional model 1918 as shown in FIG. 19D. By tilting down the camera at different viewing angles, the three-dimensional building is visualized at different angles determined by the pose of the camera with respect to the 2D map.

FIG. 19E also illustrates an example where the camera is moved, but the paper 1902 is also rotated. FIG. 19E shows the paper document 1902 rotated. The viewing region 1920 is overlaid on an image of the paper 1902. FIG. 19F shows the image 1924 captured by the image capture device 106 for display in the GUI. By tilting down the camera and rotating the map, the user can get a view of the building from every side. FIG. 19F also shows a view 1926 of the three-dimensional building from the same perspective as the camera to the paper.

FIG. 19G shows another image 1928 captured by the image capture device 106 for display in the GUI. By tilting to the left, a different view 1930 of the building is shown. Similarly, in FIG. 19H also shows the image captured 1932 and a view 1934 of the three-dimensional building again from the same perspective as the camera to the paper.

The foregoing description of the embodiments of the present invention has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the present invention to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. It is intended that the scope of the present invention be limited not by this detailed description, but rather by the claims of this application. As will be understood by those familiar with the art, the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Likewise, the particular naming and division of the modules, routines, features, attributes, methodologies and other aspects are not mandatory or significant, and the mechanisms that implement the present invention or its features may have different names, divisions and/or formats. Furthermore, as will be apparent to one of ordinary skill in the relevant art, the modules, routines, features, attributes, methodologies and other aspects of the present invention can be implemented as software, hardware, firmware or any combination of the three. Also, wherever a component, an example of which is a module, of the present invention is implemented as software, the component can be implemented as a standalone program, as part of a larger program, as a plurality of separate programs, as a statically or dynamically linked library, as a kernel loadable module, as a device driver, and/or in every and any other way known now or in the future to those of ordinary skill in the art of computer programming. Additionally, the present invention is in no way limited to implementation in any specific programming language, or for any specific operating system or environment. Accordingly, the disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the present invention, which is set forth in the following claims. 

1. A method for utilizing invisible junction features for generating a graphical user interface, the method comprising: receiving a first input image from an image capture device; detecting a skeleton within the first input image; detecting locations of invisible junctions within the first input image based on the skeleton; identifying an electronic document corresponding to the first input image and a first pose of the image capture device using the invisible junctions, the first pose including a position and an orientation of the image capture device; retrieving information associated with the electronic document; and providing the retrieved information at a viewing angle in the graphical user interface, wherein the viewing angle of the retrieved information is based on the first pose.
 2. The method of claim 1, further comprising: identifying a second pose of the image capture device; determining a change between the first pose and the second pose of the image capture device; and updating the providing of the retrieved information based on the change.
 3. The method of claim 1, further comprising: receiving a second input image; identifying a second pose of the image capture device; determining a change between the first pose and the second pose of the image capture device; and modifying the graphical user interface based on the change.
 4. The method of claim 3, wherein the change is one from a group of left, right, up and down.
 5. The method of claim 4, wherein the graphical user interface includes a view of a three-dimensional model of an object.
 6. The method of claim 5, wherein the graphical user interface is modified to adjust the view of the three-dimensional model to the left if the change is left and to adjust the view of the three-dimensional model to the right if the change is right.
 7. The method of claim 6, wherein the graphical user interface is modified to adjust the view of the three-dimensional model upward if the change is up and to adjust the view of the three-dimensional model downward if the change is down.
 8. The method of claim 1, wherein the graphical user interface is modified to provide data related to an object described by the electronic document in response to a change in the first input image.
 9. The method of claim 3, wherein the change is one from a group of left, right, up, down, east, west, north, south, clockwise and counterclockwise.
 10. The method of claim 9, wherein the graphical user interface is modified based on the change and the retrieved information included in the graphical user interface.
 11. The method of claim 10, wherein the graphical user interface is modified to adjust a view of a three-dimensional model if the change is one from a group of left, right, up and down and the retrieved information is the three-dimensional model.
 12. The method of claim 10, wherein the graphical user interface is modified to adjust a position of an aerial view if the change is one from a group of east, west, north, south, clockwise and counterclockwise, and the retrieved information is the aerial view.
 13. The method of claim 1, wherein the retrieved information is a three-dimensional model.
 14. The method of claim 1, wherein the retrieved information is an aerial view of terrain.
 15. The method of claim 1, wherein the retrieved information is a representation of the electronic document with a viewing region having a size and shape corresponding to the first input image overlaid on the representation of the electronic document.
 16. The method of claim 1, wherein the method further comprises: receiving an instruction from a user; retrieving additional information related to the electronic document; and providing the additional information related to the electronic document in the graphical user interface.
 17. The method of claim 16, wherein the retrieved information is the first input image and the additional information is an aerial view of terrain.
 18. The method of claim 16, wherein the method further comprises: receiving a second input image; identifying a second pose of the image capture device; determining a change between the first pose and the second pose of the image capture device; and modifying the graphical user interface based on the change.
 19. The method of claim 18, wherein modifying the graphical user interface includes providing a three-dimensional model.
 20. The method of claim 18, wherein determining the change includes determining a position of an image capture device imaging plane with respect to a document plane.
 21. The method of claim 3, wherein the change is a function of a position of a printed document corresponding to the first input image and the position of the image capture device relative to the printed document.
 22. A system for utilizing invisible junction features for generating a graphical user interface, the system comprising: a processor; a feature extraction unit stored on a memory and executable by the processor, the feature extraction unit for receiving a first input image from an image capture device, for detecting a skeleton within the first input image and for detecting locations of invisible junctions within the first input image based on the skeleton; a recognizer stored on the memory and executable by the processor, the recognizer for identifying an electronic document corresponding to the first input image and a first pose of the image capture device using the invisible junctions, the recognizer providing retrieved information associated with the electronic document, the first pose including a position and an orientation of the image capture device; and a user interface module stored on the memory and executable by the processor, the user interface module for receiving the retrieved information associated with the electronic document from the recognizer and providing the retrieved information at a viewing angle in the graphical user interface, wherein the viewing angle of the retrieved information is based on the first pose.
 23. The system of claim 22, wherein the recognizer determines a second pose of the image capture device and a change between the first pose and the second pose of the image capture device and the recognizer sends the change to the user interface module.
 24. The system of claim 22, wherein the recognizer identifies a second pose of the image capture device, determines a change between the first pose and the second pose of the image capture device, and wherein the user interface module modifies the graphical user interface based on the change.
 25. The system of claim 23, wherein the change is one from a group of left, right, up and down.
 26. The system of claim 25, wherein the user interface module causes the graphical user interface to provide a view of a three-dimensional model of an object.
 27. The system of claim 26, wherein the user interface module modifies the graphical user interface to the view of the three-dimensional model to the left if the change is left, to the view of the three-dimensional model to the right if the change is right, to the view of the three-dimensional model upward if the change is up, and to the view of the three-dimensional model downward if the change is down.
 28. The system of claim 22 wherein the user interface module modifies the graphical user interface to provide data related to an object described by the electronic document in response to a change in the first input image.
 29. The system of claim 24 wherein the user interface module modifies the graphical user interface based on the change between the first pose and the second pose and the retrieved information provided in the graphical user interface.
 30. The system of claim 22, wherein the received information is a three-dimensional model.
 31. The system of claim 22, wherein the received information is an aerial view of terrain.
 32. The system of claim 22, wherein the received information is a representation of the electronic document with a viewing region having a size and shape corresponding to the first input image overlaid on the representation of the electronic document.
 33. The system of claim 22, wherein the user interface module receives an instruction from a user and in response retrieves and provides additional information in the graphical user interface related to the electronic document.
 34. The system of claim 22, wherein the recognizer identifies the first pose by determining a position of an image capture device imaging plane with respect to a document plane.
 35. A computer program product comprising a non-transitory computer readable storage medium including a computer readable program, wherein the computer readable program when executed on a computer causes the computer to: receive a first input image from an image capture device; detect a skeleton within the first input image; detect locations of invisible junctions within the first input image based on the skeleton; identify an electronic document corresponding to the first input image and a first pose of the image capture device using the invisible junctions, the first pose including a position and an orientation of the image capture device; retrieve information associated with the electronic document; and provide the retrieved information at a viewing angle in a graphical user interface, wherein the viewing angle of the retrieved information is based on the first pose. 